【摘要】 为提高移栽机控制精度及稳定性，采用自适应模糊PID控制算法代替传统控制算法。介绍移栽机取投苗装置结构，基于自适应模糊PID控制算法的控制器设计以及控制系统软硬件设计，通过试验确定取投苗过程中机械手最佳夹持力与电机转角关系，结合BP神经网络训练得出钵苗夹持力控制模型，利用Simulink进行控制算法仿真分析。结果表明，该控制系统超调量为0，响应时间为0.028 s。最后开展取投苗试验，平均取苗成功率达到92.27%，基质损失率低至3.11%，可知，自适应模糊PID控制算法可有效提升控制系统稳定性，为穴盘苗移栽机控制系统研制提供新思路。更多还原

【Abstract】 In order to improve the control accuracy and stability of the transplanter, this paper proposed an adaptive fuzzy PID control algorithm to replace the traditional control algorithm. This article introduced the basic structure of the transferring device and seedling picking-up device firstly, and then the controller design based on the adaptive fuzzy PID control algorithm and the software and hardware design of the control system, the relationship between the optimal gripping force of the manipulator and the rotation angle of the motor was determined in the process of seedling picking-up experiment, and the gripping force control model was obtained by BP neural network training. Simulink was used to perform a simulation analysis of the control algorithm, the simulation results showed that the overshoot of the control system was 0 and the response time was 0.028 s. Finally, a seedling picking-up test was carried out, the average success rate of seedling picking-up reached 92.27%, and the substrate loss rate was as low as 3.11%. The results showed that the adaptive fuzzy PID control algorithm could improve the stability of the control system effectively, and it could provide new ideas for the research and development of the control system of the plug seedling transplanter.更多还原